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<div class="title">octree_pointcloud_changedetector.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_CHANGEDETECTOR_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OCTREE_CHANGEDETECTOR_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_pointcloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree2buf_base.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keyword">typename</span> LeafContainerT = OctreeContainerPointIndices,</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typename</span> BranchContainerT = OctreeContainerEmpty &gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html">   64</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html">OctreePointCloudChangeDetector</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;PointT,</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        LeafContainerT, BranchContainerT, Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt; &gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html#ad0e20093cd856b56a94a7fa61eebfa7f">   74</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html#ad0e20093cd856b56a94a7fa61eebfa7f">OctreePointCloudChangeDetector</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> resolution_arg) :</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT,</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html">Octree2BufBase</a>&lt;LeafContainerT, BranchContainerT&gt; &gt; (resolution_arg)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html#aaa91b5a6b28444de33b420e8254d34dc">   81</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html#aaa91b5a6b28444de33b420e8254d34dc">~OctreePointCloudChangeDetector</a> ()</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html#abf29f9dfe0b1cfd3f4100cdb5e9df5e2">   90</a></span>&#160;        std::size_t <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html#abf29f9dfe0b1cfd3f4100cdb5e9df5e2">getPointIndicesFromNewVoxels</a> (std::vector&lt;int&gt; &amp;indicesVector_arg,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span> minPointsPerLeaf_arg = 0)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          std::vector&lt;OctreeContainerPointIndices*&gt; leaf_containers;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#acb0d130018cef2b721638ff2d6d49f5f">serializeNewLeafs</a> (leaf_containers);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          std::vector&lt;OctreeContainerPointIndices*&gt;::iterator it;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          std::vector&lt;OctreeContainerPointIndices*&gt;::const_iterator it_end = leaf_containers.end();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <span class="keywordflow">for</span> (it=leaf_containers.begin(); it!=it_end; ++it)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((*it)-&gt;getSize ()) &gt;= minPointsPerLeaf_arg)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;              (*it)-&gt;getPointIndices(indicesVector_arg);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          <span class="keywordflow">return</span> (indicesVector_arg.size ());</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    };</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector&lt;T&gt;;</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a></div><div class="ttdoc">Octree double buffer class</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_acb0d130018cef2b721638ff2d6d49f5f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#acb0d130018cef2b721638ff2d6d49f5f">pcl::octree::Octree2BufBase::serializeNewLeafs</a></div><div class="ttdeci">void serializeNewLeafs(std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</div><div class="ttdoc">Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buff...</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:306</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_change_detector_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html">pcl::octree::OctreePointCloudChangeDetector</a></div><div class="ttdoc">Octree pointcloud change detector class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_changedetector.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_change_detector_html_aaa91b5a6b28444de33b420e8254d34dc"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html#aaa91b5a6b28444de33b420e8254d34dc">pcl::octree::OctreePointCloudChangeDetector::~OctreePointCloudChangeDetector</a></div><div class="ttdeci">virtual ~OctreePointCloudChangeDetector()</div><div class="ttdoc">Empty class constructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_changedetector.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_change_detector_html_abf29f9dfe0b1cfd3f4100cdb5e9df5e2"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html#abf29f9dfe0b1cfd3f4100cdb5e9df5e2">pcl::octree::OctreePointCloudChangeDetector::getPointIndicesFromNewVoxels</a></div><div class="ttdeci">std::size_t getPointIndicesFromNewVoxels(std::vector&lt; int &gt; &amp;indicesVector_arg, const int minPointsPerLeaf_arg=0)</div><div class="ttdoc">Get a indices from all leaf nodes that did not exist in previous buffer.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_changedetector.h:90</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_change_detector_html_ad0e20093cd856b56a94a7fa61eebfa7f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html#ad0e20093cd856b56a94a7fa61eebfa7f">pcl::octree::OctreePointCloudChangeDetector::OctreePointCloudChangeDetector</a></div><div class="ttdeci">OctreePointCloudChangeDetector(const double resolution_arg)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_changedetector.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a></div><div class="ttdoc">Octree pointcloud class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:74</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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